CN106529058A - Method and device for analyzing forward-looking geometrical movement of suspension - Google Patents
Method and device for analyzing forward-looking geometrical movement of suspension Download PDFInfo
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Abstract
The invention provides a method and device for analyzing forward-looking geometrical movement of a suspension. The method comprises the following steps: establishing a model of a double-wishbone independent suspension first side in a local coordinate system, inputting the rotation angle of an active arm, and outputting the location of each point and the wheel jump; converting the location of each point in the local coordinate system to a geodetic coordinate system to obtain a double-wishbone independent suspension model; receiving the input wheel jump, and calculating the rotation angle of the active arm and the location of each point of the double-wishbone independent suspension first side; and calculating the forward-looking geometrical performance parameter of the double-wishbone independent suspension model. According to the method provided by the invention, the double-wishbone suspension is simplified from a three-dimensional space to a two-dimensional plane for analysis, and the simplification meets the computational accuracy requirements of the general forward-looking geometrical performance parameter and can be applied to the early design and parameter optimization of this type of suspensions. By simplifying the double-wishbone independent suspension of automobiles, the forward-looking geometrical performance parameter of the suspension can be real-timely calculated in a wheel jump adjusting process, and the efficiency and quality of the geometrical arrangement of the suspension in the initial development stage can be improved.
Description
Technical field
The present invention relates to field of automobile, more particularly to a kind of method and dress of suspension forward sight geometry motion analysis
Put.
Background technology
In the initial stage development process of vehicle product, the geometry motion analysis of suspension is the most important theories of suspension system designs
Foundation.The kinematics model of suspension is set up and is solved in the analysis, determines the geometry parameter and its Changing Pattern of suspension fork mechanism, this
And carry out the basis that suspension geometry arranged and analyzed that suspension system parameter is affected on automotive performance.Due to automotive suspension structure
Complexity, is analyzed to which typically using mathematical methods such as many-body dynamicses.
In the kinematic analysis of suspension geometry, two dimensions can be decomposed, be forward sight geometry and side-looking respectively
Geometry.Wherein forward sight geometrical relationship the power relevant with side acceleration and motion.In suspension forward sight geometry, the performance of care
Parameter includes kingpin inclination, camber angle, forward sight void arm (FSVA) long, forward sight void arm angle, friction radius of circle, rolls
Heart height etc., these parameters determine abrasion characteristic of lateral movement characteristics, steering characteristic and tire of suspension etc..
In prior art, the kinematic analysis process of suspension geometry is complex, is unsuitable for practical implementation.
The content of the invention
In order to overcome, the kinematic analysis process of suspension geometry in prior art is complex, be unsuitable for practical implementation
Technical problem, the invention provides a kind of suspension forward sight geometry motion analysis method and apparatus.
In order to solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：
The invention provides a kind of suspension forward sight geometry motion analysis method, including：
The model of double the first sides of transverse arm independent suspension, the mould of double the first sides of transverse arm independent suspension are set up in local coordinate system
The anglec of rotation of the input of type for master arm, the various point locations and wheel for being output as double the first sides of transverse arm independent suspension are jumped；
The various point locations of the model of double the first sides of transverse arm independent suspension in the local coordinate system are transformed into into geodetic coordinates
Under system, the model of double transverse arm independent suspensions is obtained；
The wheel of receives input is jumped, and calculates the anglec of rotation of master arm and the various point locations of double the first sides of transverse arm independent suspension；
Calculate the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model.
Furthermore, it is understood that in described suspension forward sight geometry motion analysis method, it is described to set up double in local coordinate system
The model step of the first side of transverse arm independent suspension includes：
Set up local coordinate system in the cross-table of vehicle, the origin of the local coordinate system for master arm model with
The pin joint of the model of vehicle body, wherein master arm include top link and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Including the model of stub.
Furthermore, it is understood that in described suspension forward sight geometry motion analysis method, double the first sides of transverse arm independent suspension it is each
Point includes：
The pin joint of the model of the top link and the model of vehicle body；
The pin joint of the model of the lower swing arm and the model of vehicle body；
The pin joint of the model of the stub and the model of the top link；
The pin joint of the model of the stub and the model of the lower swing arm.
Furthermore, it is understood that in described suspension forward sight geometry motion analysis method, the forward sight geometrical performance parameter includes：
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or roll center are high
Degree.
Furthermore, it is understood that in described suspension forward sight geometry motion analysis method, it is described will be double in the local coordinate system
The various point locations of the model of the first side of transverse arm independent suspension are transformed under earth coordinates, obtain the model of double transverse arm independent suspensions
Step includes：
In the local coordinate system, the various point locations of the model of double the first sides of transverse arm independent suspension pass through the first spin matrix
It is transformed in vehicle axis system；
In the vehicle axis system, the various point locations of the model of double the first sides of transverse arm independent suspension pass through the second spin matrix
It is transformed in earth coordinates.
Present invention also offers a kind of suspension forward sight geometry motion analytical equipment, including：
Local coordinate system sets up module, for the model of double the first sides of transverse arm independent suspension is set up in local coordinate system,
The anglec of rotation of the input of the model of double the first sides of transverse arm independent suspension for master arm, is output as double the first sides of transverse arm independent suspension
Various point locations and wheel jump；
Coordinate transferring, for by each point position of the model of double the first side of transverse arm independent suspension in the local coordinate system
Put and be transformed under earth coordinates, obtain the model of double transverse arm independent suspensions；
Wheel jumps input module, and the wheel for receives input is jumped, and calculates the anglec of rotation and double transverse arm independent suspensions of master arm
The various point locations of the first side；
Computing module, for calculating the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model.
Furthermore, it is understood that in described suspension forward sight geometry motion analytical equipment, the local coordinate system sets up module tool
Body is used for：
Set up local coordinate system in the cross-table of vehicle, the origin of the local coordinate system for master arm model with
The pin joint of the model of vehicle body, wherein master arm include top link and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Including the model of stub.
Furthermore, it is understood that in described suspension forward sight geometry motion analytical equipment, double the first sides of transverse arm independent suspension it is each
Point includes：
The pin joint of the model of the top link and the model of vehicle body；
The pin joint of the model of the lower swing arm and the model of vehicle body；
The pin joint of the model of the stub and the model of the top link；
The pin joint of the model of the stub and the model of the lower swing arm.
Furthermore, it is understood that in described suspension forward sight geometry motion analytical equipment, the forward sight geometrical performance parameter includes：
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or roll center are high
Degree.
Furthermore, it is understood that in described suspension forward sight geometry motion analytical equipment, the coordinate transferring specifically for：
In the local coordinate system, the various point locations of the model of double the first sides of transverse arm independent suspension pass through the first spin matrix
It is transformed in vehicle axis system；
In the vehicle axis system, the various point locations of the model of double the first sides of transverse arm independent suspension pass through the second spin matrix
It is transformed in earth coordinates.
The invention has the beneficial effects as follows：In the method for the suspension forward sight geometry motion analysis of the present invention, by double wishbone suspension
Two dimensional surface is simplified to from three-dimensional space to be analyzed, the simplification meets the computational accuracy of general forward sight geometrical performance parameter
Demand, can be used for design and the parameter optimization of this type suspension early stage.By the simplification to Double-Wishbone Independent Suspension of Wheeled-Vehicle, can
Suspension forward sight geometrical performance parameter when left regulation wheel is jumped is calculated in real time, improves the efficiency of Preliminary Exploitation stage suspension geometry arrangement
And quality.
Description of the drawings
Fig. 1 represents the flow process principle schematic of suspension forward sight geometry motion analysis method in the embodiment of the present invention；
During Fig. 2 represents the embodiment of the present invention, suspension forward sight geometry motion analysis method sets up double transverse arms in local coordinate system
One of model schematic of the first side of independent suspension；
During Fig. 3 represents the embodiment of the present invention, suspension forward sight geometry motion analysis method sets up double transverse arms in local coordinate system
The two of the model schematic of the first side of independent suspension；
During Fig. 4 represents the embodiment of the present invention, suspension forward sight geometry motion analysis method utilizes input in local coordinate system
The anglec of rotation calculates one of schematic diagram of motion result；
During Fig. 5 represents the embodiment of the present invention, suspension forward sight geometry motion analysis method utilizes input in local coordinate system
The anglec of rotation calculates the two of the schematic diagram of motion result；
Fig. 6 represents that the earth of double transverse arm independent suspensions in suspension forward sight geometry motion analysis method in the embodiment of the present invention is sat
The schematic diagram of mark system.
Specific embodiment
It is to make the object, technical solutions and advantages of the present invention clearer, right below in conjunction with the accompanying drawings and the specific embodiments
The present invention is described in detail.
With reference to shown in Fig. 1 and Fig. 6, the invention provides a kind of suspension forward sight geometry motion analysis method, including：
Step 100, sets up the model of double the first sides of transverse arm independent suspension in local coordinate system, double transverse arm independent suspensions the
The anglec of rotation of the input of the model of side for master arm, is output as the various point locations and wheel of double the first sides of transverse arm independent suspension
Jump.Double transverse arm independent suspensions are left and right sides symmetrical structure, by simulation wherein model of the side in local coordinate system, can be with
Obtain the corresponding relation of the anglec of rotation of master arm and the anglec of rotation of master arm.
Step 200, the various point locations of the model of double the first sides of transverse arm independent suspension in the local coordinate system are transformed into
Under earth coordinates, the model of double transverse arm independent suspensions is obtained.
Step 300, the wheel of receives input are jumped, and the anglec of rotation for calculating master arm is each with double the first sides of transverse arm independent suspension
Point position.
Step 400, calculates the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model.
Specifically, in suspension forward sight geometry motion analysis method of the invention, in step 100, double transverse arm independent suspensions
For left and right sides symmetrical structure, by simulation wherein model of the side in local coordinate system, the rotation of master arm can be obtained
The corresponding relation of the anglec of rotation of angle and master arm.In step 200, by each point of the model of double the first sides of transverse arm independent suspension
Position is by being changed in earth coordinates in local coordinate system.The mould of double transverse arm independent suspensions is simulated in earth coordinates
Type.In step 300, wheel is jumped into the input of the model as double transverse arm independent suspensions, it is possible to obtain the anglec of rotation of master arm with
The various point locations of double the first sides of transverse arm independent suspension.In step 400, by known various point locations and the anglec of rotation of master arm
Degree, can obtain the forward sight geometrical performance parameter of each pair of transverse arm independent suspension model.In this analysis method, by double wishbone suspension
Two dimensional surface is simplified to from three-dimensional space to be analyzed, the simplification meets the computational accuracy of general forward sight geometrical performance parameter
Demand, can be used for design and the parameter optimization of this type suspension early stage.By the simplification to Double-Wishbone Independent Suspension of Wheeled-Vehicle, can
Suspension forward sight geometrical performance parameter when left regulation wheel is jumped is calculated in real time, improves the efficiency of Preliminary Exploitation stage suspension geometry arrangement
And quality.
Furthermore, it is understood that the model step that double the first sides of transverse arm independent suspension are set up in local coordinate system includes：
Set up local coordinate system in the cross-table of vehicle, the origin of the local coordinate system for master arm model with
The pin joint of the model of vehicle body, wherein master arm include top link and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Including the model of stub.Wherein, the left part and right part of the double cross arm independent suspension of vehicle is symmetrical arranged.
The each point for being related to double first sides of transverse arm independent suspension of motion analysis includes：The model of top link and the model of vehicle body
Pin joint；The pin joint of the model of lower swing arm and the model of vehicle body；The model of stub is hinged with the model of the top link
Point；The pin joint of the model of stub and the model of the lower swing arm.
Furthermore, it is understood that the forward sight geometrical performance parameter includes：The empty brachium of kingpin inclination, camber angle, forward sight,
Forward sight void arm angle, friction radius of circle or height of roll center.
The suspension forward sight geometry motion analysis method of the present invention is discussed in detail with reference to specific implementation process.
Local coordinate system is set up in the cross-table of vehicle, double the first side forms of transverse arm independent suspension are intended in local coordinate
In system, the side of double cross arm independent suspension is reduced to a double leval jib plane mechanism.Wherein, frame is UL, is fixed on vehicle body；
Top link is UK, lower swing arm is LA, stub is KA；Stub KA is connected to wheel center point W, wheel longitudinal axis with wheel rate
Intersection point with ground is tire earth point P, and stub extended line is S with the intersection point on ground, apart from the friction radius of circle that SP is tire.
In motion process, the position of A, K, S, P, W point changes, and note initial position is respectively A0、K0、S0、P0、W0。
Consider the solution of quadric chain, it is assumed that top link UK is master arm, know which is θ around the U points anglec of rotation1, then various point locations meter
Calculate step as follows：
1. half Suspension Model basic exercise of double leval jib is resolved
With reference to shown in Fig. 2 and 3, in vehicle cross-table, with the top link UK and virtual pin joint U of vehicle body as origin, y-axis
Along UL directions, z-axis is determined according to right-handed system, sets up local coordinate system 100.
Then the A point coordinates under the local coordinate system 100 is：
locA=[l4+l3·cosθ3,l3·sinθ3]′ (1)；
K point coordinates is：
locK=[l1·cosθ1,l1·sinθ1]′；
Note stub AK length is l2, obtain：
Above formula can be designated as θ3Function, shape is such as：
c+b·cosθ3+a·sinθ3=0 (2)；
WhereinB=2 (l4l3-l1l3cosθ1), a=-2l1l3sinθ1。
Solve θ3Available universal formula, by
Note t=tan (θ3/ 2), then formula (1) can be converted to：
It is final to solve θ3Nonlinear equation (1) t=tan (θ can be converted to3/ quadratic equation 2)：
(c-b)t2+ 2at+ (b+c)=0 (3)；
T=tan (θ are easily solved by radical formula3/ 2), so as to solve θ with antitrigonometric function3。
As root finding method can obtain two solutions, it is therefore desirable to remove a pseudo- solution, retain a true solution, limited using geometry
Determine method.For the solution tried to achieve1θ3With2θ3, Bu Fangji1θ3For true solution,2θ3Solve for pseudo-, then the schematic diagram of corresponding state such as accompanying drawing
Shown in 3 and 4.
Therefore, rejecting pseudo- solution mainly needs to judge whether UK is intersected with LA.Decision method is：
If meetingAnd
Then line segment UK is intersected with LA, accordingly2θ3Solve for pseudo-, therefore try to achieve θ3Unique true solution be1θ3。
Equation (1) is substituted into, the A point coordinates under local coordinate system is tried to achieve.
2. coordinate system conversion
With reference to shown in Fig. 1, Fig. 4 and Fig. 5, by the model of double the first sides of transverse arm independent suspension in the local coordinate system 100
Various point locations be transformed under earth coordinates 300, the model step for obtaining double transverse arm independent suspensions includes：
In local coordinate system 100, the various point locations of the model of double the first sides of transverse arm independent suspension are turned by the first spin matrix
Change in vehicle axis system 200；
In vehicle axis system 200, the various point locations of the model of double the first sides of transverse arm independent suspension are turned by the second spin matrix
Change in earth coordinates 300.
As suspension forward sight geometry performance parameter of concern should be carried out under earth coordinates 300, therefore in local coordinate
It is that the various point locations that 100 times solutions are obtained should be first switch to vehicle axis system 200, then switches to earth coordinates 300.
2.1 are transformed into vehicle axis system from local coordinate system
vehQ=Rl,v·locQ+tl,v(4)；
Wherein Rl,vIt is the spin matrix that vehicle axis system is transformed into from local coordinate system, tl,vIt is to change from local coordinate system
To the translation vector of vehicle axis system, Q represents each point coordinates such as A, K, S, P, W, pre-supervehRepresent vehicle axis system,locRepresent
Local coordinate system.
The transformational relation that vehicle axis system is transformed into from local coordinate system is fixed, is determined by structural parameters.That is vehicle
U, L point coordinates under coordinate system is known and fixed, then
tl,v=[yU zU]′；
Wherein ε is UL and vehicle axis system y-axis angle, counterclockwise for just, and is had
As stub is connected and does not consider squeegee action with wheel rate, i.e. A points and core wheel W points, tire earth point P points
Relative position relation does not change, and W and P point coordinates are easily determined after determining A point coordinates.2.2 are transformed into greatly from vehicle axis system
Ground coordinate system
geoQ=Rv,g·vehQ (5)；
Wherein Rv,gIt is the spin matrix that earth coordinates are transformed into from vehicle axis system, pre-supergeoRepresent geodetic coordinates
System.As the origin of vehicle axis system and earth coordinates is taken at vehicle centroid, therefore its translation vector is zero.
The spin matrix R of earth coordinates is tied to from vehicle coordinatev,gDetermined by body roll.By the 1st step and the 2.1st step
It is calculated vehicle axis system bottom left, the coordinate of right wheel tire earth point and is respectively PleftAnd P, then vehicle roll angle be：
Then there is spin matrix：
Therefore each point coordinates can be transformed under earth coordinates according to formula (5).
3. reverse derivation various point locations are jumped from wheel
The step is jumped for the wheel of receives input, and the anglec of rotation for calculating master arm is each with double the first sides of transverse arm independent suspension
Point position.
With reference to shown in Fig. 6, as it was previously stated, wheel jumps the lengthwise position change for being defined as core wheel relative to original state, upwards
For just.Need to know anglecs of rotation θ of the top link UK around U points in the calculating of the 1st step1Just can subsequently be calculated, and this is
The adjustable |input paramete of system should be wheel and jump, therefore need inversely to be derived.
According to definition, wheel jump is：
；
Wherein zWFor z coordinate of the W points under earth coordinates,For W point initial position W0Z under earth coordinates sits
Mark.In the range of wheel of concern is jumped, θ1It is monotonically increasing one-to-one relationship with δ.
According to the method for the 1st, 2 articles of descriptions, the look-up table of δ is set up
Wherein θ1,i=Δ θ i, Δ θ are the resolution ratio set by look-up table, and such as 0.01 degree, n is look-up table length.
For known wheel jumps δ, if which falls in [δj,δj+1] interval interior, then can be in [θ1,j,θ1,j+1] interval interior linear interpolation
Method tries to achieve θ1。
Repeat step 1,2 calculates each point coordinate value.
4. the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model is calculated.
With reference to shown in Fig. 6, forward sight geometrical performance parameter major part can be independently calculated with left and right side, therefore is stated under
Only it is defined by taking the suspension parameter of right side as an example in bright.Height of roll center needs the point of suspension both sides to be involved in calculating, and only exists
Embody in its definition.
4.1 kingpin inclination θin
When defining Kingpin inclination, angle is just, to be determined by the slope of main pin axis, i.e., determined by the coordinate value of K, A point,
4.2 camber angle θcam
Define camber when angle and be that just, which is determined by the slope of wheel longitudinal axis, i.e., the coordinate value by W, P point is true
It is fixed,
The high h of 4.3 roll centersRC
The determination method of roll center is as shown in Figure 4.Vehicle body upper left, the extended line of lower cross arm intersect at virtual pin joint
D2, upper right, the extended line of lower cross arm intersect at virtual pin joint D1, connect D1With right wheel earth point P, connect D2It is grounded with revolver
Point Pleft, the intersection point RC of two lines is roll center, and roll center is a height of,
hRC=zRC (12)。
4.4 forward sights void brachium lFVSA
Forward sight void brachium is virtual pin joint D1With the horizontal range between core wheel W,
4.5 forward sights void arm angle thetaFVSA
Forward sight void arm angle is virtual pin joint and core wheel line D1Angle between W and horizontal line,
4.6 friction radius of circle rS
Stub extended line is friction radius of circle with the distance between ground point of intersection S and tire earth point P,
rS=| yP-yS| (15)。
Correspondence said method, present invention also offers a kind of suspension forward sight geometry motion analytical equipment, including：
Local coordinate system sets up module, for the model of double the first sides of transverse arm independent suspension is set up in local coordinate system,
The anglec of rotation of the input of the model of double the first sides of transverse arm independent suspension for master arm, is output as double the first sides of transverse arm independent suspension
Various point locations and wheel jump；
Coordinate transferring, for by each point position of the model of double the first side of transverse arm independent suspension in the local coordinate system
Put and be transformed under earth coordinates, obtain the model of double transverse arm independent suspensions；
Wheel jumps input module, and the wheel for receives input is jumped, and calculates the anglec of rotation and double transverse arm independent suspensions of master arm
The various point locations of the first side；
Computing module, for calculating the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model.
Furthermore, it is understood that the local coordinate system set up module specifically for：
Set up local coordinate system in the cross-table of vehicle, the origin of the local coordinate system for master arm model with
The pin joint of the model of vehicle body, wherein master arm include top link and lower swing arm；The model of double the first sides of transverse arm independent suspension is also
Including the model of stub.
Furthermore, it is understood that each point of double the first sides of transverse arm independent suspension includes：
The pin joint of the model of the top link and the model of vehicle body；
The pin joint of the model of the lower swing arm and the model of vehicle body；
The pin joint of the model of the stub and the model of the top link；
The pin joint of the model of the stub and the model of the lower swing arm.
Furthermore, it is understood that the forward sight geometrical performance parameter includes：
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or roll center are high
Degree.
Furthermore, it is understood that the coordinate transferring specifically for：
In the local coordinate system, the various point locations of the model of double the first sides of transverse arm independent suspension pass through the first spin matrix
It is transformed in vehicle axis system；
In the vehicle axis system, the various point locations of the model of double the first sides of transverse arm independent suspension pass through the second spin matrix
It is transformed in earth coordinates.
Specifically, the modules of the suspension forward sight geometry motion analytical equipment in the embodiment of the present invention, can pass through
Simplify suspension forward sight geometry motion analysis software (entitled " suspension forward sight geometry calculator ") to realize.Opened based on Matlab
Send out, dependence Matlab GUI (Graphical User Interface) carries out user interface of software and writes.The main part of software
Divide false code as follows：
Adjustable input can be that left and right wheel is jumped, or vehicle body relative altitude, and which is selected by drop-down menu reality
It is existing.When left regulation wheel is jumped, the numerical value specified both can be input in corresponding edit box, it is also possible to see by dragging slider bar
Examine result of calculation when wheel jumps consecutive variations to change.When regulation vehicle body is high, it is also possible to be input into by edit box and drag slider bar
Two methods are carried out.
The result that forward sight geometry is calculated, expresses the computational methods of roll center in front view.In the lower section of main interface
List performance parameter of concern.The result can save as text by button.
Above-described is the preferred embodiment of the present invention, it should be pointed out that for the ordinary person of the art comes
Say, some improvements and modifications can also be made under the premise of without departing from principle of the present invention, and these improvements and modifications also exist
In protection scope of the present invention.
Claims (10)
1. a kind of suspension forward sight geometry motion analysis method, it is characterised in that include：
The model of double the first sides of transverse arm independent suspension is set up in local coordinate system, the model of double the first sides of transverse arm independent suspension
The anglec of rotation for master arm is input into, the various point locations and wheel for being output as double the first sides of transverse arm independent suspension are jumped；
The various point locations of the model of double the first sides of transverse arm independent suspension in the local coordinate system are transformed under earth coordinates,
Obtain the model of double transverse arm independent suspensions；
The wheel of receives input is jumped, and calculates the anglec of rotation of master arm and the various point locations of double the first sides of transverse arm independent suspension；
Calculate the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model.
2. suspension forward sight geometry motion analysis method according to claim 1, it is characterised in that described in local coordinate system
The middle model step for setting up double the first sides of transverse arm independent suspension includes：
Local coordinate system is set up in the cross-table of vehicle, the origin of the local coordinate system is the model and vehicle body of master arm
Model pin joint, wherein master arm includes top link and lower swing arm；The model of double the first sides of transverse arm independent suspension also includes
The model of stub.
3. suspension forward sight geometry motion analysis method according to claim 2, it is characterised in that double transverse arm independent suspensions
The each point of side includes：
The pin joint of the model of the top link and the model of vehicle body；
The pin joint of the model of the lower swing arm and the model of vehicle body；
The pin joint of the model of the stub and the model of the top link；
The pin joint of the model of the stub and the model of the lower swing arm.
4. suspension forward sight geometry motion analysis method according to claim 1, it is characterised in that the forward sight geometrical performance
Parameter includes：
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or height of roll center.
5. suspension forward sight geometry motion analysis method according to claim 1, it is characterised in that described that the local is sat
In mark system, the various point locations of the model of double the first sides of transverse arm independent suspension are transformed under earth coordinates, are obtained double transverse arms and are independently hanged
The model step of extension includes：
In the local coordinate system, the various point locations of the model of double the first sides of transverse arm independent suspension are changed by the first spin matrix
To in vehicle axis system；
In the vehicle axis system, the various point locations of the model of double the first sides of transverse arm independent suspension are changed by the second spin matrix
To in earth coordinates.
6. a kind of suspension forward sight geometry motion analytical equipment, it is characterised in that include：
Local coordinate system sets up module, for the model of double the first sides of transverse arm independent suspension, double horizontal strokes are set up in local coordinate system
The anglec of rotation of the input of the model of the first side of arm independent suspension for master arm, is output as each of double the first sides of transverse arm independent suspension
Point position and wheel are jumped；
Coordinate transferring, for the various point locations of the model of double the first sides of transverse arm independent suspension in the local coordinate system are turned
Change under earth coordinates, obtain the model of double transverse arm independent suspensions；
Wheel jumps input module, and the wheel for receives input is jumped, and calculates the anglec of rotation and double transverse arm independent suspensions first of master arm
The various point locations of side；
Computing module, for calculating the forward sight geometrical performance parameter of described pair of transverse arm independent suspension model.
7. suspension forward sight geometry motion analytical equipment according to claim 6, it is characterised in that the local coordinate system is built
Formwork erection block specifically for：
Local coordinate system is set up in the cross-table of vehicle, the origin of the local coordinate system is the model and vehicle body of master arm
Model pin joint, wherein master arm includes top link and lower swing arm；The model of double the first sides of transverse arm independent suspension also includes
The model of stub.
8. suspension forward sight geometry motion analytical equipment according to claim 7, it is characterised in that double transverse arm independent suspensions
The each point of side includes：
The pin joint of the model of the top link and the model of vehicle body；
The pin joint of the model of the lower swing arm and the model of vehicle body；
The pin joint of the model of the stub and the model of the top link；
The pin joint of the model of the stub and the model of the lower swing arm.
9. suspension forward sight geometry motion analytical equipment according to claim 6, it is characterised in that the forward sight geometrical performance
Parameter includes：
Kingpin inclination, camber angle, forward sight void brachium, forward sight void arm angle, friction radius of circle or height of roll center.
10. suspension forward sight geometry motion analytical equipment according to claim 6, it is characterised in that the Coordinate Conversion mould
Block specifically for：
In the local coordinate system, the various point locations of the model of double the first sides of transverse arm independent suspension are changed by the first spin matrix
To in vehicle axis system；
In the vehicle axis system, the various point locations of the model of double the first sides of transverse arm independent suspension are changed by the second spin matrix
To in earth coordinates.
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